WO2013017449A1 - Installation de tri et procédé de tri comprenant un outil de préhension - Google Patents

Installation de tri et procédé de tri comprenant un outil de préhension Download PDF

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Publication number
WO2013017449A1
WO2013017449A1 PCT/EP2012/064374 EP2012064374W WO2013017449A1 WO 2013017449 A1 WO2013017449 A1 WO 2013017449A1 EP 2012064374 W EP2012064374 W EP 2012064374W WO 2013017449 A1 WO2013017449 A1 WO 2013017449A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripper arms
gripper
holding
holding devices
holding device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2012/064374
Other languages
German (de)
English (en)
Inventor
Peter Berdelle-Hilge
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Priority to US14/235,921 priority Critical patent/US8955688B2/en
Priority to EP12742842.3A priority patent/EP2718029B1/fr
Publication of WO2013017449A1 publication Critical patent/WO2013017449A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/04—Feeding articles separated from piles; Feeding articles to machines by movable tables or carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/10—Reciprocating or oscillating grippers, e.g. suction or gripper tables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/44—Moving, forwarding, guiding material
    • B65H2301/447—Moving, forwarding, guiding material transferring material between transport devices
    • B65H2301/4471—Grippers, e.g. moved in paths enclosing an area
    • B65H2301/44716—Grippers, e.g. moved in paths enclosing an area oscillated in arcuate paths
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/19—Specific article or web
    • B65H2701/1916—Envelopes and articles of mail

Definitions

  • the invention relates to a sorting system and a sorting method with a gripping tool for gripping sorted objects in or on holding devices, in particular sorted flat postal items in storage pockets.
  • sorting systems having a plurality of holding devices have been proposed repeatedly.
  • Each holding device is capable of holding and transporting each item of mail.
  • a holder is, for example, a storage pocket or clip assembly
  • the mail items are transferred to the holding devices, the holding devices with the postal items are sorted, and the mailpieces sorted in this way are removed again from the holding devices.
  • a "rotatable shuttle 1011” removes mailpieces M from holding devices ("frames F"), compare FIGS. 10B to 10D and [0639] Mail M falls due to gravity from the fixtures F and land between "separation paddles 1015", see. Para. [0643].
  • "articulating pushers 1021” engage in open holding devices F and push the mail items M out of these holding devices F and toward “articulating robotic grippers 1023a and 1023b", cf. FIGS. 10E to FIG. 10G and para. [0652].
  • the "pushers 1021” have hooks on the front and the "grippers 1023a, 1023b" have the shape of forks.
  • FIG. III of WO 2009/035694 A1 several mailpieces can be taken out of their respective holding devices at the same time, cf. Section [0744].
  • a rectangular "frame 11095” is provided with four “tabs 11097” at the four corners, cf. Section [0740].
  • a V-shaped “folder 11096” is connected to the "frame 11095” by means of four "elastic bands 11101", see sections [0742] and
  • a "frame 11115” has a “folder 11116” and four hook-shaped "actuation tabs 11118" and "11119" at the corners, cf. Fig. 11J and paragraph [0749].
  • the "folder 11116" has two side surfaces
  • a C-shaped recess is also embedded in the "back membrane 11116b."
  • Several “frames 11115" are fastened to a stationary “vacuum pick-head”. The "pick-head” picks up the mail items M in the holding devices through the egg-shaped recesses, see [0753] In the embodiment of Fig.
  • a "vaeuum pick-off head” or acts by friction see section [0800].
  • the holding device can be z.
  • FIG. 1 of EP 1299298 B1 shows a sorting installation which transports flat objects 2 to holding elements 1, in each case one object 2 per holding element 1.
  • the holding elements 1 with the objects 2 are fed along a rail track 5 from a delivering unit 3 a unit 4, which receives the objects again transported.
  • the rail track 5 leads the holding elements 1 through a Zu opinionumble 10, a buffer memory 12 and a Wegmonyumble 11 therethrough.
  • ZuOOTH 10 a buffer memory 12 and a Wegsellator 11 therethrough.
  • holding elements 1 are combined into groups and submitted in groups in the subsequent path conveyor section 14.
  • each group 15 consists of the printed products for each one package.
  • printed products 2 are output in the form of "sections 15.1"
  • a dividing sheet 50 is inserted between two consecutive sections 15.1 The sections 15.1 and dividing sheets 50 are combined to form package stacks 15.2.
  • the carriers 10 become with their Bottom edges over two parallel endless conveyor belts 12 led away. This causes the lower edges of the carriers 10 to be raised and a carrier 10 to be unfolded and form a space into which a letter 14 is pushed.
  • a loaded “carrier 10" slides down again from the conveyor belt 12 and is thereby folded and holds the letter 14 between the two then touching side walls 16, 18.
  • the "carrier 10" Help of other endless conveyor belts 54 unfolded again.
  • a "unloader belt 56" engages the letter 14 through an opening 34, 34 'from the side. With the help of vacuum, the conveyor belt 56 sucks the letter 14 out of the "carrier 10".
  • No. 7,138,596 B2 describes a sorting system and a sorting method.
  • the "mail handling and sorting system 10" of Fig. 1 and Fig. 2 has two “feeder 14, 14a” for Mail items and an “optical character reader (OCR) 24"
  • OCR optical character reader
  • a "loading station 12" spends mailings in "delive robots 100.”
  • Each "delivery robot 100” transports mail items along a "track system 60" to "slots" 72 "of a” mail case 70.
  • "Each” delivery robot 100 "pushes a mail item by means of an" inserter 142 "into a" slot 72 ", cf. 3, Fig. 6.
  • the "inserter 142" in one embodiment has a plurality of parallel plates 250, 252, 254, 256, see Fig. 6. Several belts around these plates 250, 252 , 254, 256 are able to move a mail item into a "slot 72". A motor pushes back and forth the "inserter 142.”
  • a "multi-bag storage device 30" is described, cf. 2. This storage unit 30 has a plurality of pockets ("bags”) with flexible side walls, and a flat postal item can be placed in a pocket by means of an opening 31.
  • FIGS. 17 to 21 show another embodiment of a " Multi-bag 100 "with thin” bags 101 "Fig.
  • FIG. 13 show an embodiment of a" mail sorter case 70 "with a plurality of" multi-bag devices 71.
  • FIG. 14 to Fig. 17 show a "Sorting station”.
  • a "robotics part handler system” is described in US 6,257,821 B.
  • a "platform or base 19” carries an A-shaped frame ("A frame") 40 with a plurality of vertical “columns 44", which each have a plurality of "guide rails 46".
  • a sorting installation for presorting flat mail items is described in DE 10212086 A1
  • Two parallel transport devices 3, 4 each transport a stream of mail items along two parallel transport paths 1, 2 to a loading device 1 and transport each take up an upright postal item 8, see Fig. 1.
  • a transport device 6, 7 discharges the memory cells 5.
  • Each memory cell 5 has two Side surfaces with inner parallel webs 10 and one slot 11, see. FIG. 2.
  • a punch 12 of the unloaded transport device 6, 7 pushes a mail item laterally out of the storage cell 5 in a horizontal direction and parallel to the side surfaces. Thanks to the two parallel slots 11, the punch 12 can engage in the memory cell 5.
  • An arrangement with two conveyor belts (“shroud system 13") clamps the mail piece 8 and transports it after the punch 12 has pushed the mail piece 8 out of the storage cell 5.
  • EP 1878511 A1 describes a sorting system and a sorting method in order to bring mailpieces into an order in two steps.
  • a first step the mailpieces are divided into “batches.” Each "batch” consists of mailings to a group of delivery addresses and is not yet sorted in itself.
  • the "batches” are sorted one after the other by arranging each of the mailpieces of a "batch” in an order.
  • the first step is performed by a "batch sorting module", the second step by an "address sorting module".
  • Each mail item is connected before sorting with a holder in the form of a "clamp” and transported at this "clamp" through the sorting system used.
  • an "address sorting module” divides the incoming holders ("clamps") with mail items on 28 "address stations” for a maximum of 10 holders, see Fig. 3G
  • the invention is based on the object of a sorting system and a To provide sorting, which sort several objects according to a predetermined sorting feature, for which purpose each item is placed in a holding device and later removed from the holding device and wherein the sorting system used to achieve a high throughput when removing the items.
  • the object is achieved by a sorting system having the features of claim 1 and a sorting method having the features of claim 8.
  • Advantageous embodiments are specified in the subclaims.
  • the invention sorts several objects by means of a sorting system according to a predetermined sorting feature.
  • the sorting system has
  • a meter measures what value the sorting feature takes on this item.
  • a feed station spends the object in or on a holding device of the sorting system, so that the holding device holds the object and can be transported together with this object.
  • a removal station with the gripping tool later removes the object again from this fixture or otherwise separates the object from the holding device, so that the holding device no longer holds the object.
  • the object is gripped by two gripper arms of the gripping tool, from two sides, so that the two gripper arms clamp the object temporarily between them.
  • a relative movement of at least these two gripper arms relative to the holding device with the objects is carried out. As a result, the object is again separated from the holding device.
  • the articles are sorted, with a sorting and transporting device bringing the holding devices together with the held objects in a sequence.
  • This established sequence among the fixtures depends on the measured grading feature values of the items being read from the transported holding devices are kept.
  • At least one fixture sequence with filled fixtures is created by sorting.
  • the sorting and transport device transports the holding devices with the held objects from the feed station to the removal station.
  • the gripping tool has at least two gripper arms, which are arranged in a gripper arm sequence.
  • the gripping tool simultaneously grips at least two held objects in or on a holding device or two held objects in two different adjacent holding devices, by each two adjacent gripper arms of the gripper arms sequence gripping at least one object in a holding device.
  • the at least two gripper arms of the gripper tool thus grip a total of at least two objects that are currently held by holding devices.
  • two adjacent gripper arms grasp more than two objects at the same time or that more than two gripper arms grip several objects at the same time. It is also possible that two adjacent gripper arms grasp at least two objects in or on two adjacent holding devices. It is also possible that the gripper arms make a gripping movement with which objects can be gripped in two holding devices, but one of these holding devices is currently empty.
  • the sorting system is capable of sorting articles of different dimensions because each article to be sorted is placed in a respective holding device is and the holding device is transported together with the held object.
  • the gripping tool removes several objects at a time from their respective holding devices after the holding devices are sorted with the objects. As a result, the throughput and the processing rate during unloading are significantly increased compared to a procedure in which the objects are removed from the holding devices one after the other.
  • the holding devices with the objects to be sorted are already placed in a sequence when the unloading of the holding devices begins. According to the solution, the gripping tool can grasp at least two objects at once.
  • the step of unloading or otherwise separating the holders from the items requires less time than if each holder were to be individually unloaded, and therefore the holders would be severely sequentially unloaded. Because the fixtures are already sorted, sorting is no longer required after unloading.
  • Two adjacent gripper arms grab at least one object in or on a holding device and temporarily clamp it between them.
  • the object is thus held by a force exerted by two sides.
  • the invention is therefore particularly suitable for objects which extend in each case on an object plane, in particular for flat mailings ("letters" and "flats") or other flat objects to be sorted.
  • Each of the two gripper arms exerts a force that is perpendicular to the object plane. Because the two gripper arms grasp the object from two sides, the force exerted by one gripper arm on the object is absorbed by the other gripper arm. For this reason, neither the gripped object nor the holding device from which this object is to be removed or from which the object is to be separated are bent or otherwise mechanically stressed. The- This risk would exist if the object were only grabbed or sucked in from one side.
  • the gripper tool can be designed and realized without knowing the surface condition of an object to be gripped. In particular, it is not necessary to know the elasticity or the roughness of the surface or a friction property of the surface. This is advantageous in particular if different types of objects are to be sorted and it is not known in advance which types of these objects are in each case.
  • the gripper arms may have a small dimension - seen in a direction perpendicular to the transport direction in which the holding devices are transported - have. As a result, a removal station with a small footprint can be realized. Many items can be removed at the same time.
  • the invention saves a conveyor belt and a vacuum generator.
  • the gripper arms can be made much narrower than a conveyor belt which has to be guided around several rollers and itself must have a certain thickness, and also thinner than a vacuum generator, which sucks an object in or on a holding device.
  • the gripper arms it is possible, but not necessary, to change the holding device for the purpose of removing an object from the holding device. In particular, it is not necessary to develop a holding device for unloading. As a result, holders without hinges can be used.
  • an object is removed from a holding device in that two adjacent gripper arms of the sequence grasp the object from two sides and temporarily pinch between them.
  • the distance between the two adjacent gripper arms can be reduced and increased. This allows an item to grab and release it.
  • the holding device need not have a slider and no conveyor belt. This is particularly advantageous because the sorting plant usually has many holding devices, but only needs to have a gripper tool.
  • the holding device it is possible, but not required, for the holding device to have a discharge hatch or a flap on the bottom in order to deliver an article downwards. Rather, an object is pulled by two gripper arms from a holding device, without requiring a flap of the holding device would have to be opened.
  • the holding devices can therefore be simple. This is particularly advantageous when the feed station spends each item in a previously empty holding device and therefore the sorting system has at least as many holding devices as objects are to sort.
  • one side wall of the holding device is hingedly connected to another component of this holding device.
  • Such a hinged connection makes it possible to enlarge and reduce the space in the interior of the holding device, in particular to widen and narrow it, in order to insert and remove a flat object in the enlarged space and around the To safely grasp and transport the object in the reduced space.
  • the gripping tool with several gripper arms a flat object can also be pulled out of a narrow space of a holding device without a hinge connection.
  • two adjacent gripper arms simultaneously grasp at least two objects in two different adjacent fixtures. Thanks to the gripping tool according to the invention, these two holding devices are discharged more quickly than if the holding devices were to be emptied one after the other.
  • all those objects are simultaneously removed from the respective holding devices, which are located between each two adjacent gripper arms of the gripper arms sequence.
  • This simultaneous removal is carried out by a relative movement of the gripper arms relative to those holding devices which hold the gripped objects and transported to the gripping tool.
  • this relative movement comprises a simultaneous linear movement or another pivoting of all gripping gripper arms in the same direction away from the holding devices, so that the distance between the gripper arms and the holding devices is increased.
  • all gripper arms are moved at the same speed by the same distance.
  • the holding devices remain in the sorting system after the articles have been separated from the holding devices and are mechanically connected to a guide device for the holding devices.
  • Each holding device can be used successively to transport multiple items, so it is reusable. This design reduces material consumption compared to holding devices that are used only once.
  • the holding devices are pulled away from the gripper arms, z. B. by a linear movement or by a rotation or by an overlay of a linear movement with a rotation.
  • all fixtures are moved in the same direction at the same speed over the same distance.
  • the gripper arms hold objects in or on the fixtures as the fixtures are pulled away from the gripper arms.
  • the gripping tool has at least three gripper arms, namely two outer and at least one inner gripper arm.
  • Each two adjacent gripper arms hold at least one object in or on a holding device, which is located between them, by antiparallel forces.
  • the same inner gripper arm - together with a respective other gripper arm - simultaneously holds two objects.
  • At least one inner gripper arm is fixedly mounted on a gripper arm bracket, and two adjacent gripper arms are movable relative to this inner fixed gripper arm.
  • An article in or on a holding device can be used in this embodiment by the fact that the distance between two adjacent gripper arms is reduced by a movement transversely to the transport path. This movement is preferably a linear movement of this gripper arm to an adjacent gripper arm. Further movements are not required. In particular, it is not necessary to rotate or buckle a gripper arm. This embodiment thus enables a simple mechanical realization.
  • the gripper arms are positioned so that between two adjacent gripper arms at least two items are located.
  • these two objects are in two different adjacent holding devices. These two adjacent gripper arms exert two antiparallel forces on all objects between these two gripper arms and thereby grasp each of these gripped objects directly or indirectly, ie at least two objects simultaneously.
  • two adjacent gripper arms of the gripper armature sequence simultaneously grasp a plurality of objects which are distributed on at least two holding devices. Between the gripper arms are then so at least two holding devices. The two adjacent gripper arms exert two antiparallel forces on each object that is in one of these fixtures.
  • all gripper arms are in a gripper arm level.
  • This gripper arm level can be arranged horizontally or tilted at an angle or sloping at an angle.
  • each holding device comprises at least one clamp, preferably two clamps, in order to temporarily connect an object to be sorted to a holding device, the clamps of the holding device are opened, the object is placed between the jaws ("jaws"). ) each clamp, and the clamps are closed again or close automatically thanks to the force of a spring.
  • two gripper arms grasp an object from two sides, which hangs on the clamps of a holding device.
  • the staples are opened after the gripper arms grasp the object.
  • the gripped object is spatially removed from the fixture.
  • each holding device comprises two side surfaces. These side surfaces enclose a space and are mechanically interconnected. One too sorting object is placed in this enclosed space and held by the fixture in this room.
  • the side surfaces are preferably arranged parallel to one another, and the holding device is preferably transported in such a way that the side surfaces are perpendicular to the horizontal or perpendicular to the transport direction.
  • This design with the side surfaces allows for faster loading and unloading of the holding devices, as if brackets are used as holding devices and are open, close and re-open, especially when items are to be sorted, the dimensions of which vary greatly.
  • Two adjacent gripper arms grasp an object in the enclosed space by gripping the gripper arms from outside into the enclosed space and pinching the object between them in the enclosed space.
  • the two side surfaces enclose a concave space and / or the side surfaces are elastic. The two elastic see side surfaces hold an object in the enclosed concave space very safe.
  • the two gripper arms from the side d. H. in a direction parallel to the plane of a side surface, introduced into the enclosed space.
  • Retainer is moved in a direction that is parallel to the plane of a side surface.
  • each side surface which limits a space for receiving an object
  • a recess is inserted in each side surface. Seen in a direction perpendicular to the planes of the side surfaces thereby creates a continuous engagement opening. An object in the enclosed space protrudes into this engagement opening.
  • Two adjacent gripper arms reach through the recesses through an object in the enclosed space. At least one gripper arm is lowered in one direction. right on the planes of the side surfaces to the engagement opening moves.
  • the two recesses interrupt two opposite edges of the two side surfaces which surround the space. These edges are preferably vertical, and each recess begins in such an edge. In these two edges, the two side surfaces are not mechanically connected to each other, so that between the two edges of a slot or other elongated opening is formed. Through this opening a gripped object can be pulled out of the holding device.
  • an object in the enclosed space is gripped from the outside, and yet the side surfaces securely hold the article during transportation.
  • the recesses can be adapted to the dimensions and positions of the gripper arms.
  • the configuration with the recesses can be combined with a configuration in which the side surfaces are designed to be elastic and / or concave.
  • each gripper arm has two gripping surfaces on a holding element and a connecting element which holds the holding element for the gripping surfaces and the
  • Holding element and thus mechanically connects the gripping surfaces with a gripper arm holder of the gripper tool.
  • These connecting elements may be formed as stabformige elements and be narrower than the gripping surfaces of the gripper arms, so that each gripper arm has the shape of a spade or spoon. As a result, less mass needs to be moved when moving a gripper arm with equally secure gripping than with rectangular gripper arms. An article is temporarily clamped and held between two opposing gripping surfaces of two adjacent gripper arms.
  • the two outer gripper arms of the gripper armature sequence only have one gripping surface each, which after pointing in to the other gripper arms. Only each inner gripper arm has two gripping surfaces.
  • the configuration with the gripping surfaces is preferably combined with a configuration in which each article to be sorted extends in an object plane and the holding devices hold and transport the articles in such a way that the object planes are perpendicular to the horizontal and preferably perpendicular to the transport direction.
  • Each gripping surface extends in a plane which is perpendicular to the horizontal and preferably perpendicular to the transport direction. During unloading, the object planes and the gripping surface planes are arranged parallel to each other.
  • the gripping tool is designed as a stationary device with movable gripper arms.
  • the filled jigs are transported past the gripper arms and the gripper arms engage the transported jigs.
  • the holding devices are transported relative to the gripping tool in a transport direction which lies in this gripper arm level until the gripper arms are able to grasp objects.
  • the entire gripping tool is designed with the gripper arms as a movable device and is transported past the holding devices.
  • all gripper arms are in a gripper arm level.
  • the holding devices are or are aligned so that the recesses in the side surfaces are aligned at a predetermined reference plane.
  • the holding devices are aligned before they are transported past the gripping tool or the gripping tool is transported past the holding devices.
  • This reference plane is equal to the gripper arm level or parallel to the gripper arm level and preferably a horizontal plane z. B. below the fixtures.
  • the gripping tool preferably has a gripper arm pivoting unit.
  • This gripper arms pivoting unit is capable
  • pivot gripper arms and in particular to move linearly in a sliding direction and thereby to change the distance between two adjacent gripper arms.
  • the displacement direction preferably runs parallel to the direction in which the holding devices with the objects are moved relative to the gripper tool.
  • the gripper arm pivoting unit is capable of rotating the gripper arms one by one or all at once. "Pivoting" is a generic term for a movement that comprises a translational and / or a rotational movement component and / or a movement along a closed path, for example a circular path.
  • the gripper arm pivoting unit can additionally pivot the gripper arms in a further direction.
  • This pivoting, in particular displacement, of the gripper arms then, when the gripper arms grasp objects in or on holding devices, causes the objects to be pulled out of the holding device or out of the holding devices.
  • these holding devices are locked while the Greiferarme- Verschwenkiki moves the gripper arms in the other direction.
  • the further direction is preferably perpendicular to the displacement direction.
  • Pivoting is in this application and therefore also in this embodiment a generic term for a movement that a translational or a rotational motion component or both movement components.
  • a linear movement, a rotation about a rotation axis and a movement along a closed path are special cases of swiveling.
  • the articles are singulated and a stream of spaced-apart articles to be sorted reaches the feed station.
  • two feed stations operate in parallel, and one stream of items each reaches each feed station.
  • Each feed station spends an item to be sorted in or on a previously free holding device, so that only one object is in each holding device or the holding device is empty. This embodiment with only one object per holding device makes it easier to sort holding devices with objects according to the measured sorting feature values and to sort them into a sequence of sorted holding devices.
  • FIG. 1 shows a low storage pocket from a viewing direction, which is perpendicular to the side surfaces.
  • Fig. 2 seen the storage pocket of Figure 1 from the side.
  • Fig. 3 shows a high storage pocket from a viewing direction perpendicular to the side surfaces
  • Fig. 5 seen the two storage pockets of Figure 4 on a total of four guide rails from above. 6 shows schematically the sorting system with the gripping tool according to the invention
  • FIG. 8 shows the gripper tool of FIG. 7 and three storage pockets from above
  • Fig. 9 shows an embodiment of the guide device
  • the invention is used to sort mail items (letters, parcels, packages, postcards and the like) of different dimensions together.
  • Each mail item is provided with a respective identification of a delivery address (name of the recipient as well as a postal address).
  • An order is specified under the delivery addresses of these postal items. This order results z. B. from a predetermined sequence ("delivery sequence") of a postal carrier ("carrier").
  • the mailpieces are to be sorted in such a way that, after sorting, the sequence produced among the mailpieces corresponds to the predetermined order among the delivery addresses.
  • the sorting system can sort different types of mailpieces.
  • the mail items to be sorted therefore differ from each other in terms of their dimensions (length, height, thickness) and / or their weight and / or their surface condition.
  • the various types of mail items are sorted together in a sorting process.
  • the sorting system comprises a plurality of holders in the form of storage pouches.
  • Each storage bag can carry at least one Receive and hold mail while the storage bag is being transported. The mail piece can then be spatially separated again from the holding device.
  • only one type of storage bag is used, and each storage bag is capable of receiving any type of mailing.
  • the storage bags are therefore all similar and have in particular the same dimensions.
  • several different types of storage pockets are used, in particular storage pockets of different dimensions.
  • a storage bag of a first type is capable of accommodating a first sort of mailpieces, a second type of storage bag of a second kind, or both types of mailpieces.
  • the following describes an embodiment in which the sorting system has two types of storage pockets: high storage pockets and low storage pockets.
  • Fig. 1 and Fig. 2 show an example of a low storage pocket Sp.l.
  • This storage pocket Sp.l comprises two rectangular and preferably approximately flat side surfaces Sf.1.1, Sf.1.2, the len in use almost perpendicular to the horizontal and perpendicular to the transport direction and are arranged parallel to each other, so that each side surface Sf.1.1 , Sf.1.2 has an upper edge Ka-o.1.1, Ka-o.1.2 and a lower edge Ka-u.1.1, Ka-u.1.2.
  • Fig. 1 shows the low storage pocket Sp.l from a viewing direction perpendicular to the side surfaces
  • Sf.1.1, Sf.1.2 stands.
  • Fig. 2 shows this storage pocket Sp.l from the side.
  • the side surfaces Sf.1.1, Sf.1.2 are parallel to the plane of Fig. 1 and are perpendicular to the plane of Fig. 2.
  • the two side surfaces Sf.1.1, Sf.1.2 as well as the floor Bo .1 enclose a space for receiving a flat postal item Ps.n.
  • the two side surfaces Sf.1.1, Sf.1.2 abut one another in their lower edges Ka-u.1.1, Ka-u.1.2 and are mechanically connected to one another. This prevents a mail item Ps.n from sliding downwards out of the storage pocket Sp.l.
  • the two side surfaces Sf.l, Sf.2 are additionally connected to one another in their upper edges Ka-o.1.1, Ka-o.1.2 over the entire length.
  • the two upper edges Ka-u.1.1, Ka-u.1.2 are interconnected only at individual points.
  • Fig. 1 and Fig. 2 are both side surfaces
  • the two side surfaces Sf.1.1, Sf.1.2 each have two lateral and therefore vertical in operation edges. In two adjacent edges, the side surfaces Sf.1.1, Sf.1.2 are not connected to one another, so that a gap-shaped opening Spa .1 arises between these edges.
  • This opening Spa .1 is so large that a postal item Ps.n can be inserted through a lateral linear movement through the opening Spa .1 into the storage pocket Sp.l and also through this opening Spa .1 again out of the storage pocket Sp.l. pull out.
  • a gripping tool with two
  • Gripper arms to grasp an object in the storage bag Sp.l characterized in that the two gripper arms through the slit-shaped opening Spa .1 in the space between the two Side surfaces Sf.1.1, Sf.1.2 are pushed in and then grab the object. This requires narrow gripper arms in order to reduce the risk that a gripper arm encounters an object in the storage pocket Sp.l or against a side surface Sf.1.1, Sf.1.2.
  • the gripper arms grasp an object in the storage pocket Sp.l in another way, namely not through the slit-shaped opening Spa .1, but from the side through recesses in the side surfaces Sf.1.1, Sf.1.2.
  • the gripper arms can therefore be thicker.
  • the recess Aus.1.1, Aus .1.2 extends into the respective side surface Sf.1.1, Sf.1.2 and preferably tapers in a direction away from the lateral edge.
  • the recess has z. B. the shape of a trapezoid with rounded corners.
  • a gripper tool with two grippers is able to grasp through the recesses Aus.1.1, Aus .1.2 from both sides of a mail item, which is in the storage pocket Sp.l, and laterally pull out of the storage pocket Sp.l without a side surface Sf. l to touch Sf.2.
  • the two gripper arms exert two antiparallel forces on the mail items in the holding device.
  • the storage pocket Sp.l right has a vertical opening in the form of a gap Spa .1, through which a postal item Ps.n, Ps.h can be inserted from the side into the storage pocket Sp.l.
  • a recess In both side surfaces Sf.1.1, Sf.1.2 is in each case a recess
  • Aus.1.1, Aus .1.2 a continuous engagement opening. Two adjacent gripper arms reach through this engagement opening.
  • Fig. 2 shows the storage pocket Sp.l from the side.
  • the side surfaces Sf.1.1, Sf.1.2 are perpendicular to the drawing plane of Fig. 2.
  • the mail item Ps.n stands on the V-shaped bottom Bo .1.
  • Fig. 3 shows a high storage pocket Sp.2 from the same viewing direction as Fig. 1.
  • Sf.2.1, Sf.2.2 of the high storage pocket Sp.2 are parallel to the plane of Fig. 3.
  • the high storage pocket Sp.2 receives a high mail item Ps.h.
  • a recess Aus .2.1 is inserted in the rear side surface Sf.2.1 .
  • a recess Aus .2.2 is inserted in the front in Fig. 3
  • the high storage pocket Sp.2 has a lateral slit-shaped opening Spa .2 and a bottom Bo .2 in the form of a V.
  • a mail item Ps.h can be inserted through the slit-shaped opening Spa .2 into the high storage pocket Sp.2 and through Take this opening Spa .2 out of the storage bag Sp.2.
  • Even gravity and the V-shaped bottom Bo.l, Bo .2 hold a mail item Ps.n, Ps.h in the storage pocket Sp.l, Sp.2.
  • the high mail item Ps.h can be inserted from above through an approximately downward linear movement between the side surfaces Sf.2.1, Sf.2.2.
  • the side surfaces Sf.2.1, Sf.2.2 are connected to the holder Hai .2, so that a horizontal gap-shaped opening is formed next to the holder Hai .2.
  • the high mail item Ps.h is pulled out of the storage pocket Sp.2 again by a horizontal linear movement through the lateral gap-shaped opening Spa .2.
  • Sf.1.2 or Sf.2.1 and Sf.2.2 made of an elastic material.
  • the distance between the upper edge Ka-o.1.1 and Ka-o.1.2 or Ka-o.2.1 and Ka-o.2.2 and the lower edge Ka u.1.1 and Ka-u.1.2 or Ka-u.2.1 and Ka-u.2.2 of a side surface Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 can be reduced in size and enlarged again.
  • Ps.h into the storage pocket S .1, Sp .2, the two side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 are replaced by a vertical force compressed, so that the distance between the upper edge and the lower edge is reduced.
  • Sf.2.2 clamp the inserted mail item between them.
  • the two side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 thus - seen in a direction parallel to the side surfaces - a convex shape.
  • the two side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 at least have a concave shape when a mail item is inserted or withdrawn, and are each represented by a bar or other element, for , As a holder and a bottom element, top and bottom mechanically interconnected.
  • the two side surfaces are designed to be elastic and together at least have the concave shape when no force acts on the side surfaces.
  • the two parallel strips or other elements are wider than the thickest mail item to be sorted.
  • the empty storage pocket Sp.l, Sp .2 is pulled apart by a vertical force, so that the distance between the concave side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 also in the middle between the two bars is large enough to introduce the transported mail item Ps.n, Ps.h, without the mail colliding with a side surface.
  • the exercise of the vertical force is terminated as soon as the mailpiece is inserted.
  • the elastic side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 clamp the mail piece between see themselves as soon as the vertical force is no longer exercised.
  • each side surface Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 consists of two or even three parts, wherein two adjacent parts abut one another in a horizontal connecting line. At least two parts of a side surface Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 are resiliently connected to each other. In addition, at least a part of a side surface is rotatably connected to an adjacent horizontal edge or a bottom element and also rotatably connected to at least one other part of the side surface Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2.
  • a vertical force is applied to change the storage pocket Sp.l, Sp .2 so that after the change a postal item Ps.n, Ps.h can be inserted into a storage pocket Sp.l, Sp.2.
  • This vertical force reduces the distance between the upper edge Ka-o.1.1, Ka-0.1.2 or Ka-o.2.1 and Ka-o.2.2 and the lower edge Ka-1.1, Ka-u.1.2 resp Ka-u.2.1 and Ka.u.2.2 against the force of the spring elements.
  • the mail item is inserted and the exercise of the vertical force is terminated.
  • the two side surfaces clamp the mail item between them, wherein the springs press the side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 against the mail item Ps.n, Ps.h.
  • a mail item Ps.n, Ps.h is again removed from the storage pocket Sp.l, Sp.2 in the corresponding manner.
  • a vertical force increases the distance between the two upper edges and the two lower edges, if the side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 are concave or resiliently connected to each other. In the case of the concave side surfaces, the vertical force increases the distance.
  • the two side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 of the storage pocket Sp .1, Sp .2 no longer clamp the mail item between them, and the mail item Ps.n, Ps. h is pulled out of the storage pocket Sp.l, Sp.2.
  • each storage pocket is provided with a unique machine-readable identifier, e.g. B. in the form of a bar pattern.
  • This identifier distinguishes this storage bag from all other storage pockets of the sorting system.
  • the low storage pocket Sp.l has a machine-readable identifier Ke-Sp.l, the high storage pocket Sp.2 a machine-readable identifier Ke- Sp .2.
  • Ke-Sp.l, Ke-Sp.2 are mounted on holders Hal.l, Hai .2.
  • a reader of the sorting system can automatically decipher the unique identifier on the storage bag.
  • the design with the machine-readable identifiers makes it easier to locate a mail item in a storage pocket, even if the side face is made of opaque material. "The reader decodes the machine-readable identifier on the storage pocket holder the information is stored, which mail item is currently in what Speichersa see.
  • the storage pockets are transported during sorting at least temporarily along a closed conveyor track, z. For example, they are pulled past the infeed stations during feeding.
  • the order under the storage pockets does not change during this transport, because no storage pocket is ejected from the conveyor track or introduced into the conveyor track and no storage bag will overtake another storage bag on the conveyor.
  • the order under the storage pockets from the conveyor is known.
  • the transport speed at which the storage pockets are transported along the closed conveyor path is also known or measured.
  • a storage pocket or individual storage pockets are each provided with a machine-readable identifier to check whether a storage pocket is actually at the expected location on the conveyor track.
  • the storage pockets are transported past a reader for machine-readable identifiers.
  • Each storage pocket Sp.l, Sp.2 has at least one retaining element z. B. in the form of a hook and hangs on this holding element. It is also possible that the storage pocket Sp.l, Sp.2 has two lateral holding elements. Each retaining element runs in a guide device, for. B. along a
  • the storage pockets have no own drive, but are pulled or pushed along the guide device, z. B. by means of at least one chain.
  • all storage pockets are configured in one embodiment so that the distance between see the two holding elements of a storage pocket is always the same and all storage pockets can be moved in the same two rails. It is also possible that the storage pockets of a first type run in a first pair of two guide rails and the storage pockets of a second type in a second pair of two guide rails, so that the sorting system has a total of four guide rails.
  • two side holding elements Kop.1.1 are on the side surface holder Hai .1 of the storage pocket Sp.l for a low mail item Ps.n,
  • These hook-shaped holding elements Kop.2.1, Kop.2.2 run on a second pair of two guide rails Fs.2.1, Fs .2.2.
  • the distance between the guide rails Fs.2.1, Fs .2.2 of Fig. 3 is less than the distance between the guide rails Fs.1.1, Fs .1.2 of Fig. 1.
  • the high storage pocket Sp.2 is still as wide as the low Memory table Sp.l.
  • Each infeed station Bel.n, Bel.h selects an appropriate and still free storage bag for an incoming mail item.
  • the infeed station Bel.n selects a low storage bag Sp.l
  • the infeed station Bel.h selects a free high storage bag Sp.2.
  • High and low storage pockets are transported in random order past the feed stations Bel.n, Bel.h.
  • a sorting and transporting device Sort transports and sorts the filled storage bags.
  • the sorting and transporting device Sort changes the order among the filled storage pockets, e.g. B. by a filled storage bag is discharged from the closed conveyor track and placed in a cache, the sorting and transport means Sort has a plurality of latches. Storage pockets from buffers are fed back into the closed conveyor path, whereby the order under the storage pockets changes.
  • FIG. 4 illustrates an embodiment of how the sorting and transporting means Sort can transport both high and low storage pockets in a single sequence, the high storage pockets and the low storage pockets being randomly mixed.
  • two right guide rails Fs .1.2 and Fs .2.2 can be seen.
  • the high storage pocket Sp.2 runs with its holding elements Kop .2.1, Kop .2.2 in the two upper guide rails Fs.2.1, Fs .2.2.
  • the low storage pocket Sp.l runs with its holding elements Kop .1.1, Kop .1.2 in the two lower guide rails Fs.1.1, Fs .1.2.
  • the upper guide rails Fs.2.1, Fs .2.2 have a smaller distance from each other than the lower guide rails Fs.1.1, Fs .1.2.
  • the four guide rails Fs.1.1, Fs.1.2, Fs.2.1, Fs .2.2 are arranged so that the lower edges of the floors Bo .1, Bo .2 of the two storage pockets Sp.l, Sp.2 in an imaginary horizontal plane Eb lie.
  • the mail items in the storage pockets Sp.l, Sp.2 are aligned with their lower edges due to gravity approximately at this plane Eb.
  • the distances of the recesses Aus.1.1, Aus .1.2, Aus.2.1, Aus .2.2 from this horizontal plane Eb are the same size. This makes it easier for the gripping tool according to the invention to simultaneously remove a plurality of mail items from storage pockets of different sizes.
  • Fig. 5 shows the arrangement of Fig. 4 from above. You can see the upper guide rails Fs.2.1, Fs .2.2, where the holding elements Kop .2.1, Kop .2.2 hang the high storage bag Sp.2. Furthermore, the lower guide rails Fs.1.1, Fs.1.2 can be seen, on which the holding elements Kop .1.1, Kop. 1.2 of the low storage bag Sp.l hang. The low storage bag Sp.l is completely below the guide rails Fs.2.1, Fs.2.2 for the high storage bag Sp.2.
  • clamps are used in one embodiment for transporting and sorting mailpieces.
  • Device comprises a horizontal bar on which at least one clip and at least one holding element are attached.
  • the retaining element runs in the same way as in the case of the storage pockets in a guide device and holds the clamps.
  • On the bar can also be mounted laterally two retaining elements.
  • the holding device holds a mail item in the vertical position by means of the at least one clip, preferably by means of two clamps, much as a trouser holder holds a pair of trousers.
  • the staples can be opened in a controlled manner, and the item of mail slides downwards due to gravity.
  • the sorting system has both a plurality of storage pockets and a plurality of holding devices with clamps and these two types of holding devices are used in parallel.
  • the sorting system also has the following components:
  • At least one feeder with a singulator preferably one feeder per sort of mail
  • At least one feeding station in the form of a loading station in the form of a loading station
  • Fig. 6 shows schematically the components of the sorting system of the embodiment. Material flows are shown with solid lines, data flows with dashed lines. The following components are shown:
  • a low-mail image recording device in the form of two opposite cameras Ka.n.l, Ka.u.2, which generate computer-accessible images of low mailpieces,
  • a high-mail image recording device in the form of two opposite cameras Ka.h.l, Ka.h.2, which generate computer-accessible images of high mailpieces,
  • an image evaluation unit Bae which evaluates computer-accessible images of mailpieces
  • sorter Sort for filled holding devices, wherein the sorter Sort comprises a closed conveyor track Fb and a drive An for the non-driven holding devices on this closed conveyor track Fb,
  • a receiving station which picks up received postal items
  • each retainer has its own drive, which rotates a roller that contacts a guide rail and, when rotated, moves the retainer along that guide rail fixed drive To and per drive in each case a transmission means, eg a chain
  • the driven transmission means moves the holding devices along
  • the drive An pulls on the chain, and the chain pulls the holders St., St.2 along the guide rails Fs.1.1, Fs .1.2, Fs.2.1, Fs. 2.2.
  • the verzeier Ver.h is able to separate these high mail items.
  • the two feeding devices ZE.n, ZE.h work in parallel.
  • the verzeier Ver.n works for standard letters with a much higher throughput than the verze Ver.h for large letters, and significantly more standard letters than large letters reach the format-separating device FTE.
  • a lot of M.mix of mailpieces mixed of large letters and standard letters is transported to the format separating means FTE.
  • the format separator FTE divides the M.mix quantity of mail into a quantity with standard letters and a large quantity with large letters.
  • Ver.n, Ver.h to separate all mechanically processed mail.
  • the incoming mailpieces are distributed in such a way that the feeding devices are as smooth as possible.
  • Each louzier Ver.n, Ver.h singles in both embodiments, the mail sent to him and generates a stream of mail, which are spaced apart and are transported upright standing.
  • the mail item is transported upright between the two cameras Ka.n.l, Ka.n.2, if the mailpiece is a low mailing.
  • the mail item is transported between the two cameras Ka.h.l, Ka.h.2, if the mail piece is a high mailing.
  • the two cameras Ka.n.l, Ka.n.2 and Ka.h.l, Ka.h.2 each generate at least one computer-evaluable image of a surface of the mailpiece.
  • One of these two images shows the delivery address tag - unless the mailpiece has no delivery address tag.
  • the image evaluation unit Bae attempts to decipher the delivery address identification in the image automatically by means of "optical character recognition (OCR)."
  • OCR optical character recognition
  • the image evaluation unit Bae preferably accesses a database with valid delivery address designations
  • the image is displayed on a video display unit of a video coding station, and an editor enters a part of the delivery address via keyboard and / or voice input.
  • a record for the mail items is generated automatically. This record includes an internal identifier for the mailing as well as an encoding of the deciphered delivery address tag.
  • This data record is stored in the central mail data storage DSp.
  • the mail item is measured to determine which type of storage bag is capable of receiving this mail item.
  • an image is evaluated to measure the length and height of the mailpiece. If there are different loading stations, it is also determined which loading station this Can currently spend mail in a storage bag.
  • the mail item is aligned at its lower edge and transported to a suitable and available loading station Bel.n, Bel.h.
  • the upright postal item is temporarily clamped between two endless conveyor belts.
  • the endless conveyor belts rotate at the same speed and thereby transport the mail piece.
  • the loading station Bel.n, Bel.h selects a suitable empty holding device for the mail item.
  • the loading station Bel.n, Bel.h pushes the mail item by an approximately linear movement in a previously empty storage bag or connects the mailing temporarily with a holding device with brackets.
  • the linear movement is approximately horizontal if the mail item is a low mail item. In the case of a high mail item, the movement is an approximately vertically downward movement.
  • a bar code scanner or other suitable reading device reads the unique identifier of this storage bag or other holding device
  • the data record for the mail piece in the mail item data storage DSp is supplemented by an encoding of this read identifier of the holding device, so that the In addition, the delivery address marking of the mail item in a holding device defines the desired position of this filled holding device in the sequence to be produced Holding devices.
  • the holding device with the mail item is transported to an unloading station Ent.
  • the unloading station Ent pulls the mail item out of the holding device again.
  • the removed mail item is transported to the receiving station on.
  • the pick-up station picks up on the removed mail.
  • an open-topped container stands on a support surface of the receiving station, and the removed postal items are placed or placed in the container.
  • This step can be performed by the gripping tool Gw, an automatic handling machine or even a processor.
  • the sorter Sort establishes an order among the filled holders. This order among the holding devices is predetermined by the respective delivery address markings on the mail items in the holding devices and by the predetermined order among the delivery addresses. After sorting the mail items are placed in the desired order, but are still in the fixtures.
  • the unloading station Ent pulls a plurality of mailpieces out of their holding devices at once with a picking tool Gw.
  • the embodiment will first be described that storage pockets are used as holding devices.
  • the unloading station comprises the gripping tool Gw.
  • Gripping Tool Gw includes:
  • the four gripper arms Gf.al, Gf. a2, Gf.il, Gf.i2 are seated on the gripper arm holder Gf Ha.
  • Also shown are a mounting and pivoting unit V-Ha and a gripper arm pivoting unit V-Gf.
  • Fig. 7 continues to be unloaded high Speicherasa see S .2 shown. Their side surface Sf.2.1, Sf.2.2 are parallel to the plane of Fig. 7.
  • Sf.2.1, Sf.2.2 are parallel to the plane of Fig. 7.
  • three to be unloaded storage pockets Sp .1, Sp .2, Sp .3 are shown, whose side surfaces perpendicular to the plane of Fig. 8 are.
  • the gripper arm holder Gf-Ha extends along a longitudinal axis LA.
  • the N + 2 gripper arms Gf.al, Gf. a2, Gf.il, Gf.i2 are movably connected to this gripper arm support Gf-Ha, in such a way that the gripper arms are arranged in the manner of a fork or a comb in a gripper arms sequence along this longitudinal axis LA.
  • the longitudinal axis LA may be arranged horizontally or obliquely sloping or rising inclined.
  • Gf.il, Gf.i2 are so movably connected to the gripper arm holder Gf-Ha, that the distance between two adjacent gripper arms can be changed.
  • the longitudinal axis LA of the gripper arms holder Gf-Ha is perpendicular to the plane of Fig. 7 and lies in the plane of Fig. 8. In Fig. 7, only one outer gripper arm Gf.al can be seen.
  • the gripper arms pivoting unit V-Gf is able by means of its own drive to change the respective distance between two adjacent gripper arms, for. B. by the linear movements.
  • the Greiferarme- pivoting unit V-Gf all distances between adjacent gripper arms synchronized to change, for. B. so that always two adjacent gripper arms have the same distance.
  • the Greiferarme- pivoting unit V-Gf each distance between two adjacent gripper arms can be changed separately.
  • the gripper arm holder Gf-Ha is constructed telescopically and can be pushed together and pull apart again.
  • the gripper arm pivoting unit V-Gf is let into the gripper arm support Gf-Ha.
  • Each gripper arm Gf.al, Gf. a2, Gf.il, Gf.i2 is mechanically connected to this gripper arm pivoting unit V-Gf.
  • the bracket pivoting unit V-Ha is capable of pivoting the gripper arm bracket Gf-Ha with the N + 2 gripper arms.
  • "Swiveling" means a linear movement and / or a rotary or translatory rotation In one embodiment, it can grasp the gripper arm holder Gf-Ha linearly, for example in a horizontal direction, and thereby perpendicular to the longitudinal axis LA of the gripper arm holder In another embodiment, it is capable of rotating the gripper arm support Gf-Ha about the longitudinal axis LA Furthermore, in one embodiment, the support pivot unit V-Ha is capable of gripper arm support Gf-Ha parallel to the longitudinal axis LA Combinations of these configurations are possible.
  • the bracket pivoting unit V-Ha is additionally capable of linearly moving or otherwise pivoting the gripper arm support Gf-Ha in a direction which lies in the drawing plane of FIG. As a result of this movement, the distance between the gripper arm holder Gf-Ha and the storage pockets is changed, as a result of which the gripped mail items can be pulled out of the storage pockets.
  • the support pivoting unit V-Ha acts mechanically on the gripper arm support Gf-Ha and is able to rotate the gripper arm support Gf-Ha about the longitudinal axis LA, cf.
  • the support pivoting unit V-Ha can handle the gripper arms Gf-Ha together with the gripper arms
  • the holding-swiveling unit V-Ha is arranged outside the gripper arm holder Gf-Ha and acts from outside on the gripper arm holder Gf-Ha. It is also possible for the gripper arm holder Gf-Ha to comprise a housing and for the holding-and-swiveling unit V-Ha to also be arranged in this housing. In Fig. 8, a continuous gripper arm holder Gf-Ha is shown, which carries four gripper arms.
  • the device has at least two gripper arms mounts, each carrying a part of the gripper arms.
  • all gripper arms mounts are rotatable about the same axis of rotation LA.
  • a gripper arms holder can be moved in the direction of the axis of rotation LA relative to another gripper arms holder, whereby the distance between two adjacent gripper arms is changed on different gripper arms mounts.
  • Each gripper arm Gf.al, Gf. a2, Gf.il, Gf.i2 has a
  • This gripping surface is preferably made of an elastic material with a high coefficient of friction, z. B. made of rubber.
  • the elastic gripping surface may be mounted on a solid body of the gripping element. Also possible is a one-piece gripping element. In one embodiment, this gripping element by means of a connecting element, for. B. by means of a rod, connected to the holder.
  • recesses are embedded in a gripping surface.
  • the gripper arm is designed hollow inside.
  • a suction device generates a negative pressure in this cavity in the gripper arm. Through the recesses, this negative pressure acts on a mail item and sucks the mail item to the gripper arms. As a result, a mail item with a very smooth surface is gripped securely. 4Q
  • the outer gripper arm Gf.al has the two gripping elements Ge.al.l and Ge.al.2, both of which are fastened to the connecting element Ve.al. Seen in a viewing direction parallel to the longitudinal axis LA, each gripper arm in this embodiment has the shape of a spoon or spade with the connecting element as a handle. Accordingly, the inner gripper arm Gf.il has the two gripping elements Ge.il.1 and Ge.il.2. The corresponding applies to the remaining gripper arms Gf. a2, Gf.i2.
  • a gripper arm - or at least the connecting element of a gripper arm - designed flexurally.
  • the distance between two adjacent gripper arms can therefore vary over the length of the gripper arms, ie perpendicular to the plane of Fig. 7, in particular when the adjacent gripper arms grasp objects.
  • This refinement makes it possible for two adjacent gripper arms to be able to clamp one or more mail items between them and for the repelling force of the deflected elastic gripper arms additionally to hold the gripped mail items.
  • the connecting element Ve.al, Ve.a2, Ve.il, Ve.i2 is designed telescopically.
  • the gripper arm pivoting unit V-Gf is capable of the length of the connecting element Ve.al, Ve. a2, Ve.il, Ve.i2 and thereby increase and decrease the distance between the gripper arm support Gf-Ha and the gripping member.
  • the connecting element Ve.al, Ve.a2, Ve.il, Ve.i2 is designed to be rigid.
  • each inner gripper arm Gf.il, Gf.i2 has two gripping surfaces mounted on the two sides of the gripping element.
  • Gripping element Ge.il.1 has the gripping surface Gfl.il.l, the gripping element Ge.il.2 the gripping surface Gfl.il.2 and so on.
  • Each gripping surface of this inner gripper arm faces the gripping surface of an adjacent gripper arm.
  • All gripping surfaces are the same size and have identical dimensions. It is possible that a gripping surface consists of a plurality of gripping surface components which are spaced from each other.
  • a mail item can be pinched and gripped between these opposing gripping surfaces.
  • the two outer gripper arms require only one gripping element Ge.al.2, Ge. a2.1 and therefore only one gripping surface Gfl.al.2, Gfl.a2.1. It is possible, however, that all gripper arms Gf.al, Gf. a2, Gf.il, Gf.i2 are constructed the same and therefore also the two outer gripper arms each have two gripper arms gripper surfaces. This case is shown in FIG.
  • the gripping tool Gw has a total of N inner gripper arms with two gripping elements and therefore two gripping surfaces and two outer gripper arms each having at least one gripping surface, N + 1 pairs of opposing gripping surfaces are formed, so that the gripping tool Gw simultaneously between two Gripping surfaces can grab a total of N + 1 mail items.
  • N + 1 3 pairs of opposing gripping surfaces are formed. These three pairs can simultaneously draw at least three mail items from three storage pockets Sp.l, Sp.2, Sp.3.
  • N must be straight and the gripper tool can grasp N / 2 + 1 mail at a time.
  • each side surface Sf.1.1, Sf.1.2, Sf.2.1, Sf.2.2 of each storage pocket Sp.l, Sp.2 each has a recess Aus.1.1, Aus .1.2, Aus.2.1, Aus .2.2.
  • the two recesses are the same size and congruent or have at least one common recess area as an input. Grip opening, which is larger than each gripper surface - seen in a viewing direction perpendicular to the side surfaces Sf.1.1, Sf.1.2, Sf.2.1, Sf.2.2.
  • This makes it possible to pull a mail item out of a storage pocket by pulling the storage pocket away from the picking tool Gw or by the picking tool Gw pulling the mail piece out of the held storage bag or moving along the guide rails.
  • only one holding device with one mail item is located between each two adjacent gripper arms.
  • the GreifWerkzeug only two gripper arms Gf. a .1 and Gf. a .2, but no inner gripper arm.
  • all three storage pockets Sp.l, Sp.2, Sp.3 of Fig. 8 are located between these two outer gripper arms Gf. a .1, Gf. a .2.
  • a .2 is reduced, and the gripper arms grasp all three mail items in the storage pockets Sp.l, Sp.2, Sp.3 simultaneously.
  • the mail item in the inner storage pocket Sp.2 is indirectly gripped by the two gripper arms Gf.al, Gf. a .2 press the two mail items in the outer storage pockets Sp.l, Sp.3 against the mail item in the inner storage pocket Sp.2.
  • the two side surfaces of the inner storage pocket Sp.2 and one side surface of the outer storage pockets Sp.l, Sp.3 are compressed.
  • all the recesses of the storage pockets have the same distance from the upper edge of the storage pockets.
  • the guide device has two superimposed sections in the region of the unloading station.
  • a filled storage bag is routed to the upper section when the storage bag is at a greater distance, and otherwise to the lower section.
  • the upper section comprises z.
  • Fig. 9 shows schematically this embodiment.
  • the two guide rails Fs.1.1, Fs .1.2 for low storage pockets and the two guide rails Fs.2.1, Fs.2.2 for high storage pockets are mounted at the same height and lie in a horizontal plane. The recesses are therefore still at different heights.
  • the guide rails for the high storage pockets have two inclined transition sections, namely, seen in the transport direction, first a rising section and then a sloping section. It is also possible that the rising portion is located downstream of the sloping section.
  • the transport direction TR of the storage pockets Sp.l, Sp.2, Sp.3 is illustrated. Shown is the right guide rail Fs-Üb.2 an increasing portion Ab-on.
  • the high storage bag Sp.3 is still in front of this rising section Ab-an, the high storage bag Sp.2 has already passed through the rising section Ab-an.
  • the lower edges of the low storage pocket Sp.l and the high storage pocket Sp.2 are aligned at the reference plane Eb, which in turn is due to the differently high guide rails Fs .1.1 and Fs .1.2 on the one hand and Fs .2.1 and Fs.2.2 on the other is effected.
  • a sequence with a maximum of N + 1 or N / 2 + 1 mail pieces is selected, which follow one another directly in the sequence of filled storage pockets produced, after this sequence has been produced by sorting the filled storage pockets.
  • These mailpieces of the sequence are to be withdrawn from their N + 1 storage pockets (one gripper arm with two gripping surfaces between two adjacent storage pockets) or N12 + 1 storage pockets (two gripper arms each having a gripping surface between two adjacent storage pockets) by a single picking operation.
  • the storage pockets with the selected sequence are transported to a position in which the grasping tool Gw is able to grasp the mailpieces of the sequence located in the storage pockets at once. In one embodiment, it is sufficient to transport the storage pockets along the guide device and to stop when the sequence has reached the smallest distance the gripper arms of the gripper tool Gw.
  • the storage pockets are arranged and transported so that the side surfaces are perpendicular to the transport direction. 4.5 r
  • the gripper arm pivoting unit V-Gf establishes such a distance between in each case two adjacent gripper arms that this distance is greater than a filled storage pocket.
  • the bracket pivot unit V-Ha rotates and / or slides the N + 2 gripper arms between the maximum N + 1 storage pockets of the selected N + 1 mail pieces. If M ⁇ N + 1 mailpieces have been selected, then N + 1 gripper arms are pivoted between the corresponding M + 1 storage pockets, including preferably an outer gripper arm. The remaining N-M gripper arms are pivoted to a position outside the storage pockets.
  • the gripper arms Gf.al, Gf. a2, Gf.il, Gf.i2 also move without drive along the longitudinal axis LA of the gripper arm holder Gf-Ha.
  • each storage pocket at the top has a strip with a kind of saddle roof, which is capable of laterally displacing a gripper arm when lowered.
  • the gripper arms are first rotated about the axis of rotation LA so far that the storage pockets can be moved parallel to the longitudinal axis LA and parallel to the guide rails Fs.1.1, Fs .1.2, ..., without against a gripper arm bump.
  • this is accomplished by turning the gripper arm support Gf-Ha clockwise about the longitudinal axis LA.
  • the storage bags containing the mail items are pulled forward to a position obliquely below the rotated gripper arms and then stopped.
  • the gripper arms are rotated back, so in the example of Fig. 7 in the counterclockwise direction. Each gripper arm is thereby rotated in a gap between two adjacent storage pockets.
  • a gripper arm in this counterclockwise rotation abuts from above against a holder of a stopped storage pocket.
  • the gripper arm then pushes the storage bag to the left or to the rear right, ie in a direction parallel to the longitudinal axis LA and along the guide rails.
  • the holder has a kind of saddle roof at the top, which makes it easier for the rotated gripper arm to see between two adjacent storage-like.
  • the gripper arms are brought into a position in which the two recesses of a storage pocket are located between two opposite gripping surfaces of two adjacent gripper arms.
  • the gripper arms pivoting unit V-Gf reduces the distance between each two adjacent gripper arms until the two opposite gripping surfaces of these gripper arms engage through the recesses through the mail item in the storage pocket. These distance reductions are performed until each selected one
  • Mail item is clamped between two adjacent gripping surfaces.
  • a force limitation is realized, so that a maximum predetermined predetermined force is exerted on a mail item.
  • the bracket pivoting unit V-Ha pulls the gripper arm bracket Gf-Ha with the gripper arms parallel to the side surfaces of the storage pockets. The distances between the gripper arms remain unchanged so that the N + 1 gripper arms hold the gripped mailpieces and pull the held mail pieces out of the storage pocket, each mail item through the respective opening in the storage pocket. Because each storage pocket is held by two parallel guide rails in the embodiment, it is prevented that a storage pocket is rotated when pulling out a mail piece and thereby tilted the mail item in the storage bag.
  • the GreifWerkzeug Gw puts the N + l or Nl / 2 + 1 gripped mail items in a Aufnähmeech from, z. B. in a container. LIST OF REFERENCE NUMBERS
  • Bae image evaluation unit deciphers an address in an image of a mailpiece
  • Ka. n .1 Low-Density Imaging Devices Ka. n .2 in the form of two opposite cameras
  • Ke-Sp.1 machine-readable identifications of storage pockets
  • control unit (controller)
  • Ver.l, ver.2 singers of the feeder ZE.l, ZE .2 V-Gf gripper arm pivoting unit is capable of changing the distance between gripper arms of gripper tool Gw
  • V-Ha bracket pivot unit is capable of turning the gripper arm bracket Gf-Ha about the longitudinal axis La

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Sorting Of Articles (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une installation de tri et un procédé de tri comprenant un outil de préhension destiné à saisir des objets triés, en particulier des objets postaux plats triés. Les objets sont transportés pendant le tri dans des dispositifs de retenue (Sp.1, Sp.2,...) dotés de respectivement deux surfaces latérales. Dans chaque surface latérale est ménagé de préférence respectivement un évidement. Un poste d'alimentation amène chaque objet dans respectivement un dispositif de retenue (Sp.1, Sp.2,...), de sorte que l'objet se trouve entre les surfaces latérales et est retenu par les dispositifs de retenue (Sp.1, Sp.2,...). Un dispositif de transport transporte les objets vers un poste de prélèvement et produit une succession de dispositifs de retenue (Sp.1, Sp.2,...) comprenant des objets retenus. Le poste de prélèvement comprend un outil de préhension doté d'au moins deux bras de préhension dans une succession de bras de préhension. Ces bras de préhension (Gf.a1, Gf.a2, Gf.i1, Gf.i2) s'insèrent entre des dispositifs de retenue (Sp.1, Sp.2,...) remplis et retirent simultanément plusieurs objets retenus de ces dispositifs de retenue.
PCT/EP2012/064374 2011-07-29 2012-07-23 Installation de tri et procédé de tri comprenant un outil de préhension Ceased WO2013017449A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US14/235,921 US8955688B2 (en) 2011-07-29 2012-07-23 Sorting installation and sorting method using a gripping tool
EP12742842.3A EP2718029B1 (fr) 2011-07-29 2012-07-23 Dispositif et procédé de tri avec griffe

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011080137A DE102011080137A1 (de) 2011-07-29 2011-07-29 Sortieranlage und Sortierverfahren mit einem Greifwerkzeug
DE102011080137.5 2011-07-29

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WO2013017449A1 true WO2013017449A1 (fr) 2013-02-07

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EP (1) EP2718029B1 (fr)
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WO (1) WO2013017449A1 (fr)

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WO2009126157A1 (fr) 2008-04-10 2009-10-15 Lockheed Martin Corporation Système de tri selon l'accompagnement pour centres de tri postaux
DE102011080137A1 (de) * 2011-07-29 2013-01-31 Siemens Aktiengesellschaft Sortieranlage und Sortierverfahren mit einem Greifwerkzeug
DE102011085458A1 (de) * 2011-10-28 2013-05-02 Siemens Aktiengesellschaft Sortieranlage und Sortierverfahren mit zwei Speicher-Bereichen
EP3258420A1 (fr) * 2016-06-16 2017-12-20 Kabushiki Kaisha Toshiba Appareil de manipulation de livraison, procédé de manipulation de livraison et programme de gestion de livraison
US12059803B2 (en) 2020-06-22 2024-08-13 Material Handling Systems, Inc. Conveyor system with multiple robot singulators and buffering conveyor
CN111804602A (zh) * 2020-07-17 2020-10-23 太仓中科信息技术研究院 零件抓取旋转剔除一体化装置及其使用方法
CN112590235A (zh) * 2020-11-30 2021-04-02 丁佩虹 一种吸附防护口罩的生产设备
US20250322347A1 (en) * 2024-04-10 2025-10-16 Zebra Technologies Corporation Method and System for Label-Based Item Detection

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US6257821B1 (en) 1997-07-22 2001-07-10 Ronald E. Ward Robotic container handler system
DE10212086A1 (de) 2002-03-19 2003-10-16 Siemens Ag Einrichtung zum Vorsortieren von vereinzelten und gescannten, Verteilinformationen aufweisenden flachen Sendungen
US6715614B2 (en) 2000-08-07 2004-04-06 Siemens Dematic Postal Automation, L.P. Mail sequence-sorting case with multi-bag inserts and methods of sorting
EP1299298B1 (fr) 2000-07-07 2004-04-14 Ferag AG Procede et dispositif de transport d'objets a l'etat maintenu sur une voie de transport comprenant une reserve d'accumulation
US7138596B2 (en) 2001-08-01 2006-11-21 Pippin James M Apparatus and method for mail sorting
EP1878511A1 (fr) 2006-07-13 2008-01-16 Pitney Bowes Inc. Trieur de courrier et procédé pour un algorithme de tri à deux pas et à une étape
WO2009035694A1 (fr) 2007-09-13 2009-03-19 Lockheed Martin Corporation Système de tri et/ou de rangement de courrier mixte à l'échelle d'un site, ses composants et ses procédés

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US20050189268A1 (en) 2002-03-19 2005-09-01 Armin Zimmermann Method and device for presorting loose and scanned flat postal articles provided with distributing information
DE102010017544A1 (de) * 2010-06-23 2011-12-29 Bergmeier Maschinenbau Gmbh Vorrichtung zum Transport von aus mehreren übereinander angeordneten mit rohen Eiern bestückten offenen Eierverpackungen gebildete Stapel, sowie eine Vereinzelungsvorrichtung für die Eierverpackungen und eine Stapelvorrichtung für die entleerten Eierverpackungen
DE102011080137A1 (de) * 2011-07-29 2013-01-31 Siemens Aktiengesellschaft Sortieranlage und Sortierverfahren mit einem Greifwerkzeug

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Publication number Priority date Publication date Assignee Title
US4169529A (en) 1978-02-27 1979-10-02 Burroughs Corporation Item transport apparatus comprising a variable thickness carrier device
US6257821B1 (en) 1997-07-22 2001-07-10 Ronald E. Ward Robotic container handler system
EP1299298B1 (fr) 2000-07-07 2004-04-14 Ferag AG Procede et dispositif de transport d'objets a l'etat maintenu sur une voie de transport comprenant une reserve d'accumulation
US6715614B2 (en) 2000-08-07 2004-04-06 Siemens Dematic Postal Automation, L.P. Mail sequence-sorting case with multi-bag inserts and methods of sorting
US7138596B2 (en) 2001-08-01 2006-11-21 Pippin James M Apparatus and method for mail sorting
DE10212086A1 (de) 2002-03-19 2003-10-16 Siemens Ag Einrichtung zum Vorsortieren von vereinzelten und gescannten, Verteilinformationen aufweisenden flachen Sendungen
EP1878511A1 (fr) 2006-07-13 2008-01-16 Pitney Bowes Inc. Trieur de courrier et procédé pour un algorithme de tri à deux pas et à une étape
WO2009035694A1 (fr) 2007-09-13 2009-03-19 Lockheed Martin Corporation Système de tri et/ou de rangement de courrier mixte à l'échelle d'un site, ses composants et ses procédés

Also Published As

Publication number Publication date
DE102011080137A1 (de) 2013-01-31
US20140166550A1 (en) 2014-06-19
US8955688B2 (en) 2015-02-17
EP2718029A1 (fr) 2014-04-16
EP2718029B1 (fr) 2015-03-04

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